Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum.
Klaus AlbertKarmvir Singh PhogatFelix AnhaltRavi N. BanavarDebasish ChatterjeeBoris LohmannPublished in: IEEE Trans. Robotics (2020)
Keyphrases
- inverted pendulum
- structure preserving
- trajectory planning
- mobile robot
- simulation study
- intelligent control
- feedback control
- obstacle avoidance
- nonlinear systems
- motion planning
- fuzzy controller
- initial conditions
- control algorithm
- fuzzy systems
- dynamic environments
- path planning
- dynamic programming
- optimal control
- robot manipulators
- optimal path
- adaptive control
- process control
- neural network
- artificial neural networks
- fuzzy model
- three dimensional
- decision making
- computer vision